#ifndef DRV_CHASSIS_H
#define DRV_CHASSIS_H

#include "apl_pid.h"

#define follow 1
#define spin 2
#define CHASSIS_WZ_SET_SCALE 0.0f
#define MOTOR_DISTANCE_TO_CENTER 1.8f

extern PID wheel[4];

extern float vx, vy, vw;
extern float motor_speed[4];
extern short  motor_input[4];

extern void Chassis_init(void);
extern void Chassis_RC(void);
extern void Chassis_set_speed(float vx_set, float vy_set, float vw_set, float *wheel_speed);

#endif
